I can't 'see' any further into the general problem than what's summarized above. Your more extensive analysis forced me to review what I (thought I) knew re cycle dynamics.
I haven't retained most of the elegeant essays in (old, UK) mags like The Motor Cycle and Motorcycling - dunno if these mags even survive there, today (?) I used to subscribe to both. In US - ___ Jennings-like authors (believe he's a car-type guy) probably refined the earlier notions a bit, but I don't recall *anything* which "made cycle design er Simple" to grasp.
Ex. Dick Mann, a notable track, scrambles all-around Ace some years back - was a friend of a cohort of mine. He was famous for pithy quips about such matters. One I recall re a Ceriani fancy fork assembly (with 28? different adjustments re rake, trail, fork damping etc. etc.) was in his style ~ Yeah and ya can get about (28!-1) screwed-up settings outta all that.. Let's go climb Snotty Hill and see..
Anyway, he designed frames, forks - raced them and sold them. Land stuff with the above er 'metastability' seems ~ about the inherent pseudo-balance of a cycle - esp. when sliding. Reminiscent of the cone as illustration of "degrees of freedom" in a geometry: Stable is on flat-end; conditional on side, where it can roll. And then we have the Famous Analogue of Windoze "stability":
-*-
{{\\______/}}
___\\____/
____\\__/
_____\\/____
//////////////
_*_ = a fly about to land
Cycles are of course more stable than Windoze or - we'd all be dead. So omit the fly effect: there is a 'conditional stability' even in sliding-friction mode - until \ufffd happens to change abruptly (oil, leaves, gravel). Always amazing is - how fast! is the 'instinctive brain', especially in the Aces (whose boots I am unfit to run over). But that is not instantaneous, even amongst the mutants.
What I cannot envision is - the 'way' that these behaviours can be translated to water! where "\ufffd" is as evanescent as.. integrity in a 100 mile radius of Redmond. What I mean is - *this* appears to be where the cycle model goes Nutzo.
My guess - the folks engineering the Carter Copter most likely had similar fits in envisioning dynamics in YAN fluid: more so than mere water - and that had to include the lo-speed passages from ground to airborne, controlling of yaw, pitch etc. at near 0 ground (not rotor) speeds.
I suspect that a lot of trial and error - mostly error would precede a rideable device (less'n one cheats and tosses in a gyro! with a Humongous MK\ufffd !)
But maybe you're getting some stuff I'm not ..
Happy sleuthing,
Ashton